Mapping a room using scenescript from meta

Posted by ievolve on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-a-room-using-scenescript-from-meta-tp10402.html

We are building an AMR (no lidar, just a ZEDx) and have been surprised how difficult generating a useful occupancy grid can be.  I was hopeful that rtabmap Grid/Sensor config set to use the depth map would work, but alas the result is not great, and depth to laserscan feels half baked as well.

The thought is that it should be possible to at least get the walls and floor correct to get a nice base map for navigation purposes.  Then let cost maps take over for obstacle avoidance and such.

Ran into this project that seems to really nail the simple "look around and tell me where the walls and floor are at".  I was wondering/hopeful that someone had been thinking along the same lines and had tried this approach?

https://www.projectaria.com/scenescript/